diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.cpp b/ackermann_steering_controller/src/ackermann_steering_controller.cpp
index c3a7539c5a..571c56c44e 100644
--- a/ackermann_steering_controller/src/ackermann_steering_controller.cpp
+++ b/ackermann_steering_controller/src/ackermann_steering_controller.cpp
@@ -62,28 +62,29 @@ bool AckermannSteeringController::update_odometry(const rclcpp::Duration & perio
   }
   else
   {
-    const double rear_right_wheel_value = state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
-    const double rear_left_wheel_value = state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
-    const double front_right_steer_position =
-      state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
-    const double front_left_steer_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
+    const double traction_right_wheel_value =
+      state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
+    const double traction_left_wheel_value =
+      state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
+    const double right_steer_position = state_interfaces_[STATE_STEER_RIGHT_WHEEL].get_value();
+    const double left_steer_position = state_interfaces_[STATE_STEER_LEFT_WHEEL].get_value();
     if (
-      !std::isnan(rear_right_wheel_value) && !std::isnan(rear_left_wheel_value) &&
-      !std::isnan(front_right_steer_position) && !std::isnan(front_left_steer_position))
+      !std::isnan(traction_right_wheel_value) && !std::isnan(traction_left_wheel_value) &&
+      !std::isnan(right_steer_position) && !std::isnan(left_steer_position))
     {
       if (params_.position_feedback)
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_position(
-          rear_right_wheel_value, rear_left_wheel_value, front_right_steer_position,
-          front_left_steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, right_steer_position,
+          left_steer_position, period.seconds());
       }
       else
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_velocity(
-          rear_right_wheel_value, rear_left_wheel_value, front_right_steer_position,
-          front_left_steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, right_steer_position,
+          left_steer_position, period.seconds());
       }
     }
   }
diff --git a/bicycle_steering_controller/src/bicycle_steering_controller.cpp b/bicycle_steering_controller/src/bicycle_steering_controller.cpp
index 5f013d7d7a..017ff21ae9 100644
--- a/bicycle_steering_controller/src/bicycle_steering_controller.cpp
+++ b/bicycle_steering_controller/src/bicycle_steering_controller.cpp
@@ -60,19 +60,19 @@ bool BicycleSteeringController::update_odometry(const rclcpp::Duration & period)
   }
   else
   {
-    const double rear_wheel_value = state_interfaces_[STATE_TRACTION_WHEEL].get_value();
+    const double traction_wheel_value = state_interfaces_[STATE_TRACTION_WHEEL].get_value();
     const double steer_position = state_interfaces_[STATE_STEER_AXIS].get_value();
-    if (!std::isnan(rear_wheel_value) && !std::isnan(steer_position))
+    if (!std::isnan(traction_wheel_value) && !std::isnan(steer_position))
     {
       if (params_.position_feedback)
       {
         // Estimate linear and angular velocity using joint information
-        odometry_.update_from_position(rear_wheel_value, steer_position, period.seconds());
+        odometry_.update_from_position(traction_wheel_value, steer_position, period.seconds());
       }
       else
       {
         // Estimate linear and angular velocity using joint information
-        odometry_.update_from_velocity(rear_wheel_value, steer_position, period.seconds());
+        odometry_.update_from_velocity(traction_wheel_value, steer_position, period.seconds());
       }
     }
   }
diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.cpp b/tricycle_steering_controller/src/tricycle_steering_controller.cpp
index f89d78a52c..af3fc38293 100644
--- a/tricycle_steering_controller/src/tricycle_steering_controller.cpp
+++ b/tricycle_steering_controller/src/tricycle_steering_controller.cpp
@@ -60,24 +60,26 @@ bool TricycleSteeringController::update_odometry(const rclcpp::Duration & period
   }
   else
   {
-    const double rear_right_wheel_value = state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
-    const double rear_left_wheel_value = state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
+    const double traction_right_wheel_value =
+      state_interfaces_[STATE_TRACTION_RIGHT_WHEEL].get_value();
+    const double traction_left_wheel_value =
+      state_interfaces_[STATE_TRACTION_LEFT_WHEEL].get_value();
     const double steer_position = state_interfaces_[STATE_STEER_AXIS].get_value();
     if (
-      !std::isnan(rear_right_wheel_value) && !std::isnan(rear_left_wheel_value) &&
+      !std::isnan(traction_right_wheel_value) && !std::isnan(traction_left_wheel_value) &&
       !std::isnan(steer_position))
     {
       if (params_.position_feedback)
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_position(
-          rear_right_wheel_value, rear_left_wheel_value, steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steer_position, period.seconds());
       }
       else
       {
         // Estimate linear and angular velocity using joint information
         odometry_.update_from_velocity(
-          rear_right_wheel_value, rear_left_wheel_value, steer_position, period.seconds());
+          traction_right_wheel_value, traction_left_wheel_value, steer_position, period.seconds());
       }
     }
   }